/* update.c */ /* Beacon udapte position mode. {{{ * * Copyright (C) 2012 Florent Duchon * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "position.h" #include "trust.h" #include "update.h" #include "debug.h" /* Globals Declaration */ extern opponent_s opponent[MAX_OBSTACLE]; /* This function checks is the given coord is a potential obstacle and updates the structure in consequence */ TUpdateStatus update(coord_s * point) { int j = 0; int dx = 0; int dy = 0; /* Find if it's near a previous obstacle */ DEBUG_UPDATE("Check if ( %.4d ; %.4d ) exists\n",point->x,point->y); for( j = 1; j <= MAX_OBSTACLE ; j++) { dx = opponent[j].x - point->x; dy = opponent[j].y - point->y; if (dx * dx + dy * dy < OBSTACLE_RADIUS * OBSTACLE_RADIUS) { DEBUG_UPDATE("Opponent found (%.4d ; %.4d)\n",opponent[j].x,opponent[j].y); opponent[j].x = point->x; opponent[j].y = point->y; trust_increase(j); return UPDATE_OBSTACLE_FOUND; } } /* No obstacle found */ DEBUG_UPDATE("Opponent not found\n"); return UPDATE_OBSTACLE_NOT_FOUND; }